Project 1 (Mini Project on Vehicle Direction Detection

Mini Project - Vehicle Direction Determination

Aim:-

The main aim is identifying the direction of vehicle is taking based on the camera input.

ANSWER:-

GENERAL OVERVIEW OF PROJECT:-

Identifying the direction of the vehicle is one of the important & diverse features in Autonomous driving & Advanced Driver Assistance Features. This particular sub-feature of identifying the direction of vehicle is basically identifying the direction the vehicle is taking based on the camera input.

Camera reads the road signs & stores into its memory with unique values for left turn, right turn & straight drive. Depending on the direction it is taking, final indication is given to the driver – as an indication if he is driving in the recommended direction or not.

Vehicle Direction Determination can also be coupled along - side features like GPS systems to identify whether the vehicle is reaching its destination in an optimized manner. This sub feature can also be used along with Lane Detection, Highway Warning, Ramp Entry / Exit in Wrong Way Detection etc

OBJECTIVE OF PROJECT:-

1. Development of MATLAB Simulink model as per requirement.
2. Tag the requirements to the simulink model; tagging requirement 1 & requirement 2 to their corresponding subsystems is fine.
3. MBD compliant changes, Data Dictionary creation & code generation is added advantage, and that is not scope of this project.
4. If choosing code generation, Storage class for Input signals: ImportedExtern; Storage class for Output signal: Export to File; Storage class for local signals: localizable; Storage class for calibration signals: Const.
5. Choose sample time for all signals as 0.01s

REQUIREMENTS OF PROJECT:-

Requirement - 1:

1. Steering wheel input as yaw rate (Signal name: SteeringWheel_YawDegreeInput) is the input for this system.
2. This is compared against 3 angular values, one each for left turn, right turn & straight drive (Calibration Values: Right_Turn_AngularLimit, Left_Turn_AngularLimit, Straight_Drive_Steering_Angle) to say which specific direction the steering wheel is turning towards.
3. Use switch blocks to compare & develop this requirement. Keep this requirement in a subsystem & output of this requirement is a local signal (Signal Name: Vehicle_Turn_Status).

Requirement – 2:

1. Keep this requirement as a separate subsystem. Inputs to this requirement are local signal from requirement 1 (Signal Name: Vehicle_Turn_Status) & an input signal from camera (Signal Name: CameraInput_RoadSign), which confirms the occurrence of a road sign.
2. Signal Vehicle_Turn_Status is compared against calibration values (Calibration Values: RightTurn_RoadSign, LeftTurn_RoadSign, Straight_RoadSign), if each of them is found equal, then each of the three corresponding output is compared against the camera input signal,
3. Using a logical operator block, only one among them is finally given as output signal (Signal Name: Vehicle_Direction_Indicator).

Signals & Calibration Data List:-

Signal or calibration name	signal type	data type	Diamention	Min	Max	Initial value	units
SteeringWheel_YawDegreeInput	Input	Int16	1	-180	180	-	Deg
CameraInput_RoadSign	Input	Boolean	1	0	1	-	-
Vehicle_Turn_Status	Local	Int16	1	-180	180	-	Deg
Right_Turn_AngularLimit	Calibration	Int16	[1 1]	-180	180	30	Deg
Left_Turn_AngularLimit	Calibration	Int16	[1 1]	-180	180	-120	Deg
Straight_Drive_Steering_Angle	Calibration	Int16	[1 1]	-180	180	0	Deg
RightTurn_RoadSign	Calibration	Int16	[1 1]	-180	180	30
LeftTurn_RoadSign	Calibration	Int16	[1 1]	-180	180	-120
Straight_RoadSign	Calibration	Int16	[1 1]	-180	180	0
Vehicle_Direction_Indicator	Output	Boolean	1	0	1	-	-

ADVANCE DRIVER ASSISTANCE ACE SYSTEM MINI PROJECT VEHICLE DIRECTION DETERMINATION: -

>>>>Vehicle examination is critical undertaking in different apllications.it is an important process in several purposes.variuos such application are driver assistance system ,electronic toll collection, intelligent parking system.pirticularly i wrongdoing anticipation and mischance examination the assignment cal give helpful data.

>>>One such application in order to enhance the detection of vehicles is to determine the direction of vehicles.using the incresing need for security consciousness.

>>>Identifying the direction of vehicle is one of the important and diverse features in autonomous driving and advance driver assistance features this particular sub features of identifying the direction of vehicle is basically identifying the direction of vehicle is taking based on the camera input.

>>>Camera reads the road signs and stores into its memory with unique value for left turn ,right turn,straight drive.depending on the direction it is taking final indication is given to the driver as an indication if he is driving n the recommended direction or not.

Development of MATLAB Simulink model as per requirement.

SIMULINK MODEL :-

Blocks which are used for modeling this model as follows:-

1. Subsystem
2. switch
3. and
4. or
5. constant
6. in1
7. out1
8. mux
9. data type convertion

TOTAL SIMULINK MODEL :-

This the main model subsystem that having two inputs:-

a) SteeringWheel_YawDegreeInput

b) CameraInput_RoadSign

There are 2 requirements are designed in two subsystem and as follows:-

REQUIREMENT 1:

Vehicle_Turn_Status_Subsystem:

• Steering wheel input as yaw rate (Signal name: SteeringWheel_YawDegreeInput) is the input for this system.
• This is compared against 3 angular values, one each for left turn, right turn & straight drive (Calibration Values: Right_Turn_AngularLimit, Left_Turn_AngularLimit, Straight_Drive_Steering_Angle) to say which specific direction the steering wheel is turning towards.
• Use switch blocks to compare & develop this requirement. Keep this requirement in a subsystem & output of this requirement is a local signal (Signal Name: Vehicle_Turn_Status).

MODEL:-

Inside the Subsytem :-

REQUIREMENT 2:

Vehicle_Direction_Indicator_Subsystem:-

• Keep this requirement as a separate subsystem. Inputs to this requirement are a local signal from requirement 1 (Signal Name: Vehicle_Turn_Status) & an input signal from the camera (Signal Name: CameraInput_RoadSign), which confirms the occurrence of a road sign.
• Signal Vehicle_Turn_Status is compared against calibration values (Calibration Values: RightTurn_RoadSign, LeftTurn_RoadSign, Straight_RoadSign), if each of them is found equal, then each of the three corresponding output is compared against the camera input signal,
• Using a logical operator block, only one among them is finally given as output signal (Signal Name: Vehicle_Direction_Indicator).

MODEL:-

Inside the Subsytem :-

Tag the requirements to the simulink model; tagging requirement 1 & requirement 2 to their corresponding subsystems is fine.

>>> All the requirements are tagged in order for better understandability, anyone who is reviewing the model or who is trying to update the model can get a clear idea of what logic is used in the system. from the requirement manager, we can see what are all are tagged and the description.

>>> Firstly I wrote all requirement in word file then I select my first requirement then I return on model select my first subsystem right click on it then goto requirements and link to selection in word then my subsystem box is highlited and linked.by using the same procedure I link my second subsyem with requirement 2.

REQUIREMENT 1 TAG WITH SUBSYSTEM 1:-

Step@1

Create the Word Document as follows:-

Step@2

Right click on the Subsystem(Requirement-1) --->> then Select the requirement--->>Choose the link to word as follows.

Step@3

Then the Sysytem will looks color changes automatically as follows as follows.

REQUIREMENT 2 TAG WITH SUBSYSTEM 2:-

Step@1

Create the Word Document as follows:-

Step@2

Right click on the Subsystem(Requirement-1) --->> then Select the requirement--->>Choose the link to word as follows.

Step@3

Then the Sysytem will looks color changes automatically as follows as follows.

Simulink Data Dictionary creation:-

Simulink Data Dictionary(SSLD) is a signal & data maintaining repository where the signals & calibration data maintained or loaded in the form of m-script in the base workspace can be brought together under a single repository.

Unlike other database repositories where the data in it cannot be written or modified, in SLDD, data can be directly modified & edited.

The dictionary stores design data, which define parameters and signals, and includes data that define the model's behaviour. The dictionary does not store simulation data, which are model simulation inputs or outputs that enter and exit, and Import and Outport blocks.

A Simulink data dictionary permanently stores model data including MATLAB variables, data objects, and data types.

Procedure:-

Step@1

In this step open the Simulink Editor window , and select the modeling tab as follows.

Step@2

>>From the selection Modeling window click on the model settings and click on the model perameters as follows.

>>then we get the windoe as follows.

Step@3

>>From the above data select the " External data icon".

Step@4

In External data--->New---> Ok

>>Then we get the new windoe as follows.

Step@5

>>Select the file location and save the required name tothe "SLDD" file as follows.

After that click on the okay

>>Then we can get the window as follows.

>>Click on the External data as follows

Step@6

>>Select the Design data and click on the Add icon top of the banner.

>>then we get the parameters as follows.

Step@7

>>In this way we can add the signals ,parameters values as per the requirements.

Step@8

After Adding the Data to the SLDD as foollows.

The required Simulink Data Dictionary (SLDD) file from thegiven input is created and added tol the answer successfully.All the inputs, outputs, calibration parameters are saved in SLDD so while simulation the model takes all the values and its parameters from the Simulink Data Dictionary

SIGNAL RESOLUTION FOR INPUT AND OUTPUT:

The inputs and output signals are resolved so the signals will take the values from sldd and pass them to the logical blocks. Otherwise, it may take some junk values if it is unresolved

MODEL UPDATE:-

The model update is done by Ctrl-D. this is done to check for any static errors. If there are no errors coming the model is working fine without any errors.

SIMULATION:-

The model is simulated too for checking for errors and warnings.

CONFIGURATION PARAMETER UPDATE:-

Various configuration parameters are updated as per the code generation the solver type should be fix for code generation.

>>>Various configuration parameters are updated as per the code generation the solver type should be fix for code generation.

MODEL ADVISORY REPORT:-

By running model advisor tool,I can see comomnly made modelling errors.

Go to in modeling and click on model advisor then thier im selsect by product in that i select MAB and run selected check I got following result is pass successfully.

After selecting the required Advisory report then click on the Rum check as shown in above image.

CODE GENERATION:-

For this code generation I goes into APPS tab then embeded coder then I choosed c code and build that code which has been attached to code window.

>>After click on the Code generation the window of generated code is attached below as follows.

The Generatoed Code is as follows:-

/*
 * File: Project_1.c
 *
 * Code generated for Simulink model 
'Project_1'.
 *
 * Model version                  : 1.13

 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Project_1.h"
#include "Project_1.h"

/* Exported data definition */

/* Definition for custom storage class: ExportToFile */
boolean_T Vehicle_Direction_Indicator; /* '<S2>/OR' */

/* Real-time model */
static RT_MODEL_Project_1_M_;
RT_MODEL_Project_1;

/* Model step function */
void Project_1_step(void)
{
  int32_T rtb_Vehicle_Turn_Status;

  /* Switch: '<S3>/Switch' incorporates:
   *  Constant: '<S3>/Left_Turn_AngularLimit'
   *  Constant: '<S3>/Right_Turn_AngularLimit'
   *  Inport: '<Root>/SteeringWheel_YawDegreeInput'
   *  Switch: '<S3>/Switch1'
   */
  if (SteeringWheel_YawDegreeInput > 25) {
    rtb_Vehicle_Turn_Status = 30;
  } else if (SteeringWheel_YawDegreeInput > 0) {
    /* Switch: '<S3>/Switch1' incorporates:
     *  Constant: '<S3>/Straight_Drive_Steering_Angle'
     */
    rtb_Vehicle_Turn_Status = 0;
  } else {
    rtb_Vehicle_Turn_Status = -120;
  }

  /* End of Switch: '<S3>/Switch' */

  /* Logic: '<S2>/OR' incorporates:
   *  Constant: '<S2>/LeftTurn_RoadSign'
   *  Constant: '<S2>/RightTurn_RoadSign'
   *  Constant: '<S2>/Straight_RoadSign'
   *  Inport: '<Root>/CameraInput_RoadSign'
   *  Logic: '<S2>/Logical Operator'
   *  Logic: '<S2>/Logical Operator1'
   *  Logic: '<S2>/Logical Operator3'
   *  RelationalOperator: '<S2>/Relational Operator'
   *  RelationalOperator: '<S2>/Relational Operator1'
   *  RelationalOperator: '<S2>/Relational Operator2'
   */
  Vehicle_Direction_Indicator = ((CameraInput_RoadSign &&
    (rtb_Vehicle_Turn_Status == 30)) || (CameraInput_RoadSign &&
    (rtb_Vehicle_Turn_Status == -120)) || (CameraInput_RoadSign &&
    (rtb_Vehicle_Turn_Status == 0)));
}

/* Model initialize function */
void PProject_1_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void Project_1_terminate(void)
{
  /* (no terminate code required) */
}

/*
 * File trailer for generated code.
 *
 * [EOF]
 */

Conclusion:-

The simulink model for vehicle direction determination model and as per given requirements with created the SLDD File for the Model.

The required All input and output signals resolved and propageted ,then I check error with model advisor report I passed in that report and my code is generated successfully.In this way I done my project and get result satisfactory.